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   <div id="projectbrief">trajectory generation module</div>
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<a href="#pub-methods">Public Member Functions</a> &#124;
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<p><code>#include &lt;<a class="el" href="_poly_traj_gen_8h_source.html">PolyTrajGen.h</a>&gt;</code></p>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr class="memitem:a376f30d795cfe0a40f8923f49336f7da"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_path_planner.html#a376f30d795cfe0a40f8923f49336f7da">PathPlanner</a> ()</td></tr>
<tr class="separator:a376f30d795cfe0a40f8923f49336f7da"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a58b48f13a0beefa08e584040d4e29bae"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_path_planner.html#a58b48f13a0beefa08e584040d4e29bae">is_spline_valid</a> ()</td></tr>
<tr class="separator:a58b48f13a0beefa08e584040d4e29bae"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a197058bceddd7a22cd23c74239562754"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_path_planner.html#a197058bceddd7a22cd23c74239562754">path_gen</a> (const <a class="el" href="_poly_traj_gen_8h.html#a37d0493e73d8ef72a2405596ad6cee0c">TimeSeries</a> &amp;knots, const nav_msgs::Path &amp;waypoints, const geometry_msgs::Twist &amp;v0, const geometry_msgs::Twist &amp;a0, <a class="el" href="struct_traj_gen_opts.html">TrajGenOpts</a> opt)</td></tr>
<tr class="separator:a197058bceddd7a22cd23c74239562754"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a4b5f5beea2c380ae4340f65dd1d5bd10"><td class="memItemLeft" align="right" valign="top"><a class="el" href="struct_q_p__form__xyz.html">QP_form_xyz</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_path_planner.html#a4b5f5beea2c380ae4340f65dd1d5bd10">qp_gen</a> (const <a class="el" href="_poly_traj_gen_8h.html#a37d0493e73d8ef72a2405596ad6cee0c">TimeSeries</a> &amp;knots, const nav_msgs::Path &amp;waypoints, const geometry_msgs::Twist &amp;v0, const geometry_msgs::Twist &amp;a0, <a class="el" href="struct_traj_gen_opts.html">TrajGenOpts</a> opt)</td></tr>
<tr class="separator:a4b5f5beea2c380ae4340f65dd1d5bd10"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a36d08d3831066c76be5195ed99fa1f68"><td class="memItemLeft" align="right" valign="top">nav_msgs::Path&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_path_planner.html#a36d08d3831066c76be5195ed99fa1f68">get_path</a> ()</td></tr>
<tr class="separator:a36d08d3831066c76be5195ed99fa1f68"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad231acc2bce7d5e143fa49c69515c4a9"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_path_planner.html#ad231acc2bce7d5e143fa49c69515c4a9">horizon_eval_spline</a> (int N_eval_interval)</td></tr>
<tr class="separator:ad231acc2bce7d5e143fa49c69515c4a9"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a85541c4c74f7b2b199d85c5739db51ad"><td class="memItemLeft" align="right" valign="top">nav_msgs::Path&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_path_planner.html#a85541c4c74f7b2b199d85c5739db51ad">sub_horizon_eval_spline</a> (int N_eval_interval, double t_start, double t_final)</td></tr>
<tr class="separator:a85541c4c74f7b2b199d85c5739db51ad"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aadd23ca1fbe79abb2a6fc6983fb3f639"><td class="memItemLeft" align="right" valign="top">visualization_msgs::Marker&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_path_planner.html#aadd23ca1fbe79abb2a6fc6983fb3f639">get_safe_corridor_marker</a> ()</td></tr>
<tr class="separator:aadd23ca1fbe79abb2a6fc6983fb3f639"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a5d4db201bdb6b20bf6a9a46a15c354e2"><td class="memItemLeft" align="right" valign="top">visualization_msgs::MarkerArray&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_path_planner.html#a5d4db201bdb6b20bf6a9a46a15c354e2">get_safe_corridor_single_marker</a> ()</td></tr>
<tr class="separator:a5d4db201bdb6b20bf6a9a46a15c354e2"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a5c9fd37284fa20b93f933ce53c932fc6"><td class="memItemLeft" align="right" valign="top">visualization_msgs::Marker&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_path_planner.html#a5c9fd37284fa20b93f933ce53c932fc6">get_knots_marker</a> ()</td></tr>
<tr class="separator:a5c9fd37284fa20b93f933ce53c932fc6"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa12888c52d7cb2d429c3782060b9b45e"><td class="memItemLeft" align="right" valign="top">Point&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_path_planner.html#aa12888c52d7cb2d429c3782060b9b45e">point_eval_spline</a> (double t_eval)</td></tr>
<tr class="separator:aa12888c52d7cb2d429c3782060b9b45e"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae31bac84392ea0fbe59edfc7582215e0"><td class="memItemLeft" align="right" valign="top">Twist&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_path_planner.html#ae31bac84392ea0fbe59edfc7582215e0">vel_eval_spline</a> (double t_eval)</td></tr>
<tr class="separator:ae31bac84392ea0fbe59edfc7582215e0"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad1ad0eb3d19d6f1e9ab921e835361c14"><td class="memItemLeft" align="right" valign="top">Twist&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_path_planner.html#ad1ad0eb3d19d6f1e9ab921e835361c14">accel_eval_spline</a> (double t_eval)</td></tr>
<tr class="separator:ad1ad0eb3d19d6f1e9ab921e835361c14"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a35e8872f5ffc5fc3227dc45f9f969a85"><td class="memItemLeft" align="right" valign="top"><a class="el" href="class_poly_spline.html">PolySpline</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_path_planner.html#a35e8872f5ffc5fc3227dc45f9f969a85">get_solution</a> (VectorXd sol, int poly_order, int n_seg)</td></tr>
<tr class="separator:a35e8872f5ffc5fc3227dc45f9f969a85"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a6fd581289799d1daac012050fb712a0c"><td class="memItemLeft" align="right" valign="top">VectorXd&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_path_planner.html#a6fd581289799d1daac012050fb712a0c">solveqp</a> (<a class="el" href="struct_q_p__form.html">QP_form</a> qp_prob, bool &amp;is_ok)</td></tr>
<tr class="separator:a6fd581289799d1daac012050fb712a0c"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1d6a959095513585bfc10468f7b8d180"><td class="memItemLeft" align="right" valign="top"><a class="el" href="struct_constraint.html">Constraint</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_path_planner.html#a1d6a959095513585bfc10468f7b8d180">get_init_constraint_mat</a> (double x0, double v0, double a0, <a class="el" href="struct_traj_gen_opts.html">TrajGenOpts</a> option)</td></tr>
<tr class="separator:a1d6a959095513585bfc10468f7b8d180"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aff99e738bd54babad38867d7713e5a51"><td class="memItemLeft" align="right" valign="top"><a class="el" href="struct_constraint.html">Constraint</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_path_planner.html#aff99e738bd54babad38867d7713e5a51">get_continuity_constraint_mat</a> (double dt1, double dt2, <a class="el" href="struct_traj_gen_opts.html">TrajGenOpts</a> option)</td></tr>
<tr class="separator:aff99e738bd54babad38867d7713e5a51"><td class="memSeparator" colspan="2">&#160;</td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock">
<p>Definition at line <a class="el" href="_poly_traj_gen_8h_source.html#l00106">106</a> of file <a class="el" href="_poly_traj_gen_8h_source.html">PolyTrajGen.h</a>.</p>
</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
<a class="anchor" id="a376f30d795cfe0a40f8923f49336f7da"></a>
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          <td class="memname">PathPlanner::PathPlanner </td>
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</div><div class="memdoc">

<p>Definition at line <a class="el" href="_poly_traj_gen_8cpp_source.html#l00004">4</a> of file <a class="el" href="_poly_traj_gen_8cpp_source.html">PolyTrajGen.cpp</a>.</p>

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<h2 class="groupheader">Member Function Documentation</h2>
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          <td class="memname">geometry_msgs::Twist PathPlanner::accel_eval_spline </td>
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<p>Definition at line <a class="el" href="_poly_traj_gen_8cpp_source.html#l00534">534</a> of file <a class="el" href="_poly_traj_gen_8cpp_source.html">PolyTrajGen.cpp</a>.</p>

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<p>Definition at line <a class="el" href="_poly_traj_gen_8cpp_source.html#l00727">727</a> of file <a class="el" href="_poly_traj_gen_8cpp_source.html">PolyTrajGen.cpp</a>.</p>

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<p>Definition at line <a class="el" href="_poly_traj_gen_8cpp_source.html#l00676">676</a> of file <a class="el" href="_poly_traj_gen_8cpp_source.html">PolyTrajGen.cpp</a>.</p>

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<p>Definition at line <a class="el" href="_poly_traj_gen_8cpp_source.html#l00703">703</a> of file <a class="el" href="_poly_traj_gen_8cpp_source.html">PolyTrajGen.cpp</a>.</p>

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<p>Definition at line <a class="el" href="_poly_traj_gen_8h_source.html#l00127">127</a> of file <a class="el" href="_poly_traj_gen_8h_source.html">PolyTrajGen.h</a>.</p>

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<p>Definition at line <a class="el" href="_poly_traj_gen_8h_source.html#l00131">131</a> of file <a class="el" href="_poly_traj_gen_8h_source.html">PolyTrajGen.h</a>.</p>

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<p>Definition at line <a class="el" href="_poly_traj_gen_8h_source.html#l00132">132</a> of file <a class="el" href="_poly_traj_gen_8h_source.html">PolyTrajGen.h</a>.</p>

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<p>Definition at line <a class="el" href="_poly_traj_gen_8cpp_source.html#l00643">643</a> of file <a class="el" href="_poly_traj_gen_8cpp_source.html">PolyTrajGen.cpp</a>.</p>

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<p>Definition at line <a class="el" href="_poly_traj_gen_8cpp_source.html#l00450">450</a> of file <a class="el" href="_poly_traj_gen_8cpp_source.html">PolyTrajGen.cpp</a>.</p>

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<p>Definition at line <a class="el" href="_poly_traj_gen_8h_source.html#l00123">123</a> of file <a class="el" href="_poly_traj_gen_8h_source.html">PolyTrajGen.h</a>.</p>

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<p>Definition at line <a class="el" href="_poly_traj_gen_8cpp_source.html#l00054">54</a> of file <a class="el" href="_poly_traj_gen_8cpp_source.html">PolyTrajGen.cpp</a>.</p>

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<p>Definition at line <a class="el" href="_poly_traj_gen_8cpp_source.html#l00491">491</a> of file <a class="el" href="_poly_traj_gen_8cpp_source.html">PolyTrajGen.cpp</a>.</p>

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<p>Definition at line <a class="el" href="_poly_traj_gen_8cpp_source.html#l00107">107</a> of file <a class="el" href="_poly_traj_gen_8cpp_source.html">PolyTrajGen.cpp</a>.</p>

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<p>Definition at line <a class="el" href="_poly_traj_gen_8cpp_source.html#l00552">552</a> of file <a class="el" href="_poly_traj_gen_8cpp_source.html">PolyTrajGen.cpp</a>.</p>

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<p>Definition at line <a class="el" href="_poly_traj_gen_8cpp_source.html#l00518">518</a> of file <a class="el" href="_poly_traj_gen_8cpp_source.html">PolyTrajGen.cpp</a>.</p>

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<hr/>The documentation for this class was generated from the following files:<ul>
<li>include/traj_gen/<a class="el" href="_poly_traj_gen_8h_source.html">PolyTrajGen.h</a></li>
<li>src/<a class="el" href="_poly_traj_gen_8cpp_source.html">PolyTrajGen.cpp</a></li>
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